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/*
  Author: Daniel Hennes
 */

#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <collision_detection/JointState.h>

#include "collision_detection/SolverNode.h"
#include "collision_detection/InverseDynamicsSolverWBC.h"

int main( int argc, char** argv )
{
  ros::init(argc, argv, "solver_node");
  ros::NodeHandle n("~");

  std::string sai_xml_fname;
  n.param("sai_xml", sai_xml_fname, std::string("robot.sai.xml"));

  XmlRpc::XmlRpcValue joint_list;
  std::vector<std::string> joint_names;

  n.getParam("joints", joint_list);
  ROS_ASSERT(joint_list.getType() == XmlRpc::XmlRpcValue::TypeArray);
  for (int32_t i = 0; i < joint_list.size(); i++) {
    ROS_ASSERT(joint_list[i].getType() == XmlRpc::XmlRpcValue::TypeString);
    joint_names.push_back(static_cast<std::string>(joint_list[i]));
  }

  InverseDynamicsSolverWBC solver = 
    InverseDynamicsSolverWBC(sai_xml_fname);

  SolverNode solver_node(solver, joint_names);
  
  ros::spin();
}
